/*
 * @Description: 存放处理后的IMU姿态以及GNSS位置
 * @Author: Zhijian Qiao
 * @Date: 2020-02-27 23:10:56
 */
#ifndef avp_slam_SENSOR_DATA_POSE_DATA_HPP_
#define avp_slam_SENSOR_DATA_POSE_DATA_HPP_

#include <Eigen/Dense>

namespace avp_slam {
    class PoseData {
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

        PoseData() {}

        PoseData(const Eigen::Matrix<float, 4, 4> &pose_, double start, double end) {
            pose = pose_;
            startTime = start;
            endTime = end;
            time = startTime + endTime;
            time = time / 2.0;
        }

        Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
        double time = 0.0;
        double startTime = 0.0;
        double endTime = 0.0;
    public:
        Eigen::Quaternionf GetQuaternion();
    };
}

#endif